#include "tf/tf.h"
#include "../utils.h"
#include "robots_msgs/Trans.h"


class TFtranser{
  private:

    tf::TransformListener listener;
    tf::TransformBroadcaster broadcaster;
    ros::Subscriber odom_sub;
    tf::StampedTransform radar_pose;
    ros::ServiceServer transServer;

    void odomCB(const nav_msgs::OdometryConstPtr& odomPtr);
    bool transSer(robots_msgs::TransRequest& req, robots_msgs::TransResponse& resp);


  public:
    TFtranser();
    ~TFtranser(){};
};
